PolyTrajectoryFactory Class Reference

Factory that builds polynomial waypoint-following trajectories. More...

#include <PolyTrajectoryFactory.h>

Inheritance diagram for PolyTrajectoryFactory:

Public Types
using	Request = bb_controls_msgs::srv::SplineTraj::Request
using	Locomotion = bb_controls_msgs::action::Locomotion

Public Member Functions
	PolyTrajectoryFactory (const Request &req, const State &origin, std::shared_ptr< Trajectory6DOFLimits > limits)
	Constructs the factory from a SplineTraj service request. More...
	PolyTrajectoryFactory (const Locomotion::Goal &goal, const State &origin, std::shared_ptr< Trajectory6DOFLimits > limits)
	Constructs the factory from a Locomotion action goal. More...
PolyTrajectoryFactory &	with_origin_twist_threshold (double max_norm)
	Sets the origin twist norm threshold below which the initial twist is zeroed. More...
PolyTrajectoryFactory &	with_frame_id (const std::string &frame_id)
	Sets the TF world frame ID embedded in visualisation messages. More...
PolyTrajectoryFactory &	with_angle_unwrapping (bool needs_angle_unwrapping=true)
	Controls whether yaw angles are unwrapped across consecutive waypoints. More...
std::unique_ptr< TrajectoryBase >	build () override
	Builds and returns the configured trajectory. More...
Public Member Functions inherited from TrajectoryFactoryInterface
virtual	~TrajectoryFactoryInterface ()=default

Detailed Description

Factory that builds polynomial waypoint-following trajectories.

Parses goal waypoints from either a SplineTraj service request or a Locomotion action goal, converts relative goals to absolute world-frame coordinates, optionally inserts intermediate heading-interpolation waypoints, and constructs a PolyTrajectory. Uses a builder pattern to allow optional configuration after construction.

See also

PolyTrajectory

Member Typedef Documentation

Locomotion

using PolyTrajectoryFactory::Locomotion = bb_controls_msgs::action::Locomotion

Request

using PolyTrajectoryFactory::Request = bb_controls_msgs::srv::SplineTraj::Request

Constructor & Destructor Documentation

PolyTrajectoryFactory() [1/2]

PolyTrajectoryFactory::PolyTrajectoryFactory	(	const Request &	req,
		const State &	origin,
		std::shared_ptr< Trajectory6DOFLimits >	limits
	)

Constructs the factory from a SplineTraj service request.

Parameters

req	[in] Service request containing goal poses and relative-coordinate flags
origin	[in] Starting vehicle state used for relative-to-absolute conversion
limits	[in] Per-axis velocity and acceleration limits

PolyTrajectoryFactory() [2/2]

PolyTrajectoryFactory::PolyTrajectoryFactory	(	const Locomotion::Goal &	goal,
		const State &	origin,
		std::shared_ptr< Trajectory6DOFLimits >	limits
	)

Constructs the factory from a Locomotion action goal.

Parameters

goal	[in] Action goal containing per-axis setpoint arrays and flags
origin	[in] Starting vehicle state used for relative-to-absolute conversion
limits	[in] Per-axis velocity and acceleration limits

Member Function Documentation

build()

std::unique_ptr< TrajectoryBase > PolyTrajectoryFactory::build ( )

overridevirtual

Builds and returns the configured trajectory.

Returns

Unique pointer to the constructed PolyTrajectory, or nullptr on failure

Implements TrajectoryFactoryInterface.

with_angle_unwrapping()

PolyTrajectoryFactory & PolyTrajectoryFactory::with_angle_unwrapping

(

bool

needs_angle_unwrapping = true

)

Controls whether yaw angles are unwrapped across consecutive waypoints.

Parameters

needs_angle_unwrapping

[in] True to enable yaw unwrapping (default)

Returns

Reference to this factory for method chaining

with_frame_id()

PolyTrajectoryFactory & PolyTrajectoryFactory::with_frame_id

(

const std::string &

frame_id

)

Sets the TF world frame ID embedded in visualisation messages.

Parameters

frame_id

[in] TF frame ID string

Returns

Reference to this factory for method chaining

with_origin_twist_threshold()

PolyTrajectoryFactory & PolyTrajectoryFactory::with_origin_twist_threshold

(

double

max_norm

)

Sets the origin twist norm threshold below which the initial twist is zeroed.

Parameters

max_norm

[in] Threshold on the L2 norm of the origin twist

Returns

Reference to this factory for method chaining

---

The documentation for this class was generated from the following files:

• include/trajectory/factory/PolyTrajectoryFactory.h
• src/trajectory/factory/PolyTrajectoryFactory.cpp